Since companions are for all intensions and purposes a player character, they defualt to using the same rules as any “main” character other than the ones that are explicitly different in the feat’s description.
Because companions do not have levels of their own as “main” characters do, however, one could argue they don’t have any strict limitations in that particular sense.
Still, I belive that in the way the feat is intended and in the spirit of the system, you shouldn’t allow a Companion to do anything that is outrageously out of the “main” character’s reach, and someone aiming for that particular interaction when picking this feat may not have RP or character building as their main priority.
(PS: I put quotation marks in “main character” because a companion can be just as capable of interesting RP 
)